Homogeneous integral finite-time control and its application to robot control

Abstract

Homogeneous finite-time control attracts much attention recent years in nonlinear control theory. However, the structure of the control is more complicated than the conventional proportional-integral-derivative (PID) control. In this paper, we propose homogeneous integral finite-time controllers and a homogeneous finite-time PID controller having a simple control structure for a class of linear systems. We apply the proposed controller to an angular position control problem of a robot manipulator. The effectiveness of the proposed controller is confirmed by comparison with conventional PID and previously proposed finite-time PID controllers.